pib — Open-Source 3D-Printable Humanoid
BAbout this program
pib is a fully open-source, 3D-printable humanoid robot developed by pib-rocks. Designed to be built at home or in a classroom, pib features articulated arms with five-fingered hands, a rotating head with camera, and a Raspberry Pi brain running ROS2 (Robot Operating System). The robot ships with a web-based control interface called Cerebra, which lets you program behaviors with visual Blockly blocks or Python, stream video from the head camera, and control individual finger and arm joints in real time.
All mechanical parts are printable — the body, arms, forearms, hands with individual finger bones, shoulder joints, and head — making pib one of the most accessible humanoid robot projects available. The backend uses Docker containers for easy deployment on a Raspberry Pi 4 or 5.
Attribution
Author: pib-rocks (https://github.com/pib-rocks) License: MIT Source: https://github.com/pib-rocks/pib-backend Website: https://pib.rocks
🖨 Print Files (15)
urdf_thumb_rotator_right.stl
urdf_thumb_rotator_left.stl
urdf_shoulder_vertical.stl
urdf_shoulder_horizontal.stl
urdf_palm_right.stl
urdf_palm_left.stl
Required Hardware
Non-Printable Parts for pib Humanoid Robot
Source: pib.rocks — List of all non-printable parts and pib.Makerbox contents
Servos & Motors
| Part | Qty | Notes |
|---|---|---|
| TowerPro MG996R Digital Servo (180°, metal gear) | ~10 | Fingers, forearms, head tilt/pan |
| DSSERVO DS3225MG 25kg Digital Servo | ~4 | Arms, elbows |
| DSSERVO DS5180SSG 80kg Digital Servo | ~2 | Shoulder joints |
Electronics
| Part | Qty | Notes |
|---|---|---|
| Raspberry Pi 5 (4 GB) + Power Supply + Active Cooler | 1 | Main compute unit |
| Luxonis OAK-D Lite Camera | 1 | Head camera, depth vision |
| ELECROW 7-inch Raspberry Pi Touchscreen Display | 1 | Optional display on chest/head |
| TinkerForge Servo Bricklet 2.0 | 1 | PWM servo controller (up to 10 servos) |
| TinkerForge HAT Brick | 1 | Raspberry Pi HAT for Bricklet connection |
| TinkerForge RGB LED Button Bricklet | 1 | Status indicator |